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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["put_box_in_blanket."], "length": 673}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-11.162109375, 41.044921875, 21.884765625, 26.71875, -16.083984375, -0.7544006705284119], "max": [37.705078125, 191.953125, 182.021484375, 89.912109375, 3.33984375, 36.71416473388672], "mean": [3.421726942062378, 92.30472564697266, 75.78829193115234, 73.25676727294922, -3.7326743602752686, 16.711008071899414], "std": [14.107198715209961, 40.900753021240234, 45.57583999633789, 15.943912506103516, 4.813632488250732, 14.379979133605957], "count": [673]}, "observation.state": {"min": [-10.458984375, 40.78125, 24.169921875, 27.509765625, -15.380859375, 0.13717420399188995], "max": [36.650390625, 187.294921875, 175.693359375, 89.736328125, 3.1640625, 35.871055603027344], "mean": [3.3485937118530273, 90.82547760009766, 76.71487426757812, 73.38607788085938, -3.810900926589966, 17.650772094726562], "std": [13.791884422302246, 40.15687561035156, 43.8096923828125, 15.793243408203125, 4.766172885894775, 13.748412132263184], "count": [673]}, "observation.images.laptop": {"min": [[[0.047058823529411764]], [[0.06274509803921569]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5196523986804317]], [[0.5053017769607843]], [[0.514684906664686]]], "std": [[[0.22130100383382162]], [[0.21670440789695036]], [[0.2083015462435084]]], "count": [132]}, "timestamp": {"min": [0.0], "max": [22.4], "mean": [11.200000000000001], "std": [6.475938370443142], "count": [673]}, "frame_index": {"min": [0], "max": [672], "mean": [336.0], "std": [194.27815111329426], "count": [673]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [673]}, "index": {"min": [0], "max": [672], "mean": [336.0], "std": [194.27815111329426], "count": [673]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [673]}}}

meta/info.json

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+{
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+    "robot_type": "so100",
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+    "total_frames": 673,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
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+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            "names": [
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+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+                "main_shoulder_lift",
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+                "main_wrist_roll",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "put_box_in_blanket."}

videos/chunk-000/observation.images.laptop/episode_000000.mp4

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